Recommended Attachment Angle - Mitsubishi CR750 Series Instruction Manual

The bolts should also be tightened a little at a time to ensure an even attachment surface when attaching a
hand to the force sensor tool side (Tightening torque: 6 N·m).
Care should also be taken with regard to the following points. If not attached properly, it will not be possible to
obtain force data accurately, leading to a drop in force sense control performance.

Ensure that the hand attachment surface is as flat as possible, and ensure sufficient stiffness to avoid any
loss in force or moment.

Do not attach in such a way as to prevent movement of moveable parts of the force sensor (cable routing
etc.)

5.3 Recommended Attachment Angle

The following attachment method is recommended to ensure easy calibration with the force sensor coordinate
system and force sense coordinate system (mechanical interface) that forms the reference for the force sense
function.
[Recommended attachment angle]

Attach so that the sensor coordinate system +FXs direction is parallel with the mechanical interface
coordinate system +Xm direction.
<Calibration>
To ensure proper functioning of the force sense function, it is necessary to correctly set the correlation between
the force sensor coordinate system and force sense coordinate system (mechanical interface).
* Refer to section 6.4.2
* Refer to section 3.5 for details on the coordinate system definition.
+Ym
+Zm
+Xm
for details on the calibration method.
Sensor attachment adapter
+FYs
Recommended Attachment Angle 5-19
5 Attaching the Force Sensor
Force sensor
+FZs
+FXs